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US12437378B2 - Image processing device, image processing method, program, and image processing system - Google Patents
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US12437378B2 - Image processing device, image processing method, program, and image processing system - Google Patents

Image processing device, image processing method, program, and image processing system

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Publication number
US12437378B2
US12437378B2 US18/317,599 US202318317599A US12437378B2 US 12437378 B2 US12437378 B2 US 12437378B2 US 202318317599 A US202318317599 A US 202318317599A US 12437378 B2 US12437378 B2 US 12437378B2
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United States
Prior art keywords
area
image
image processing
brightness
mobile object
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Application number
US18/317,599
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English (en)
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US20230289938A1 (en
Inventor
Yuji UMEZU
Soichi Hagiwara
Junzo Sakurai
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Socionext Inc
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Socionext Inc
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Assigned to SOCIONEXT INC. reassignment SOCIONEXT INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SAKURAI, JUNZO, HAGIWARA, SOICHI, UMEZU, YUJI
Publication of US20230289938A1 publication Critical patent/US20230289938A1/en
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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/90—Dynamic range modification of images or parts thereof
    • G06T5/94—Dynamic range modification of images or parts thereof based on local image properties, e.g. for local contrast enhancement
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20172—Image enhancement details
    • G06T2207/20208—High dynamic range [HDR] image processing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30168—Image quality inspection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present disclosure relates to an image processing device, an image processing method, a program, and an image processing system.
  • an image processing device includes a memory and a processor configured to execute: obtaining a first image captured by an imaging device installed on a mobile object; generating a second image in which brightness of a second area located below a first area of the first image in a vertical direction with respect to a traveling surface of the mobile object is corrected based on brightness of the first area; and outputting the second image.
  • FIG. 1 is a diagram illustrating a configuration of a control system according to an embodiment
  • FIG. 2 is a diagram illustrating an example of a configuration of a mobile object according to the embodiment
  • FIG. 3 is a diagram illustrating an example of a hardware configuration of an image processing device and a control device according to the embodiment
  • FIG. 4 is a diagram illustrating an example of a configuration of the image processing device and the control device according to the embodiment
  • FIG. 5 is a flow chart illustrating an example of a correction process of an image executed by the image processing device according to the embodiment
  • FIG. 6 is a diagram illustrating an example of a process of calculating a target value of brightness of a current frame to be processed according to the embodiment
  • FIG. 7 is a diagram illustrating an example of a process of adjusting a correction amount according to the brightness of a pixel according to the embodiment
  • FIG. 8 is a diagram illustrating an example of an area for detecting halation according to the embodiment.
  • FIG. 9 is a diagram illustrating an example of an output image according to the embodiment.
  • FIG. 10 A is a diagram illustrating an example of a configuration of the imaging device according to the embodiment.
  • FIG. 10 B is a diagram illustrating an example of a configuration of the imaging device according to the embodiment.
  • FIG. 10 C is a diagram illustrating an example of a configuration of the imaging device according to the embodiment.
  • FIG. 11 is a diagram illustrating an example in a case of implementing the image processing device according to the embodiment by an analog circuit.
  • the brightness of frames can be corrected appropriately.
  • FIG. 1 is a diagram illustrating a configuration of a control system 500 according to an embodiment.
  • the control system 500 includes a mobile object 1 and a server 50 .
  • the numbers of mobile objects 1 and servers 50 are not limited as in the example in FIG. 1 .
  • the mobile object 1 is, for example, a traveling machine such as a vehicle traveling on land by wheels, a robot traveling by legs or the like, an aircraft, an unmanned aircraft (drone), or the like.
  • the vehicle includes, for example, automobiles, motorcycles (motorbikes), robots that travel on wheels, railcars that travel on railways, and the like.
  • the automobile includes an automobile traveling on a road, a streetcar, a construction vehicle used for construction, a military vehicle for military use, an industrial vehicle for cargo handling, an agricultural vehicle, and the like.
  • the server 50 provides the mobile object 1 with various services, for example, necessary for automatic driving or the like of the mobile object 1 .
  • the mobile object 1 which is an automobile, as viewed from directly above is illustrated.
  • the mobile object 1 includes an imaging device 12 A, an imaging device 12 B, an imaging device 12 C, an imaging device 12 D, and an imaging device 12 E (hereafter, simply referred to as “imaging device(s) 12 ” in the case where there is no need to distinguish these devices).
  • the imaging device 12 is a device to capture an image.
  • the imaging device 12 may be, for example, a camera.
  • the imaging device 12 A is an imaging device (a backward camera, a rear camera, or a back view camera) to capture an image behind as viewed from the mobile object 1 (in a direction opposite to the traveling direction in normal time).
  • the imaging device 12 B is an imaging device (left side camera) to capture an image on the left side as viewed from the mobile object 1 .
  • the imaging device 12 C is an imaging device (right side camera) to capture an image on the right side as viewed from the mobile object 1 .
  • the imaging device 12 D and the imaging device 12 E are imaging devices (forward cameras) to capture an image in front as viewed from the mobile object 1 (the traveling direction in normal time).
  • the imaging device 12 may be, for example, an advanced driver-assistance system (ADAS) to assist operations of the driver, or an imaging device to capture images for automatic driving.
  • ADAS advanced driver-assistance system
  • the imaging device 12 may be, for example, cameras to capture images (around view, panoramic view, multi view, top view) for an omnidirectional monitor that generates an image as if the mobile object 1 is viewed from directly above.
  • the imaging device 12 may be, for example, an imaging device for a drive recorder to record an image of the outside or the like of the mobile object 1 .
  • the imaging device 12 B may be, for example, a camera to capture an image to be displayed on the left side mirror monitor.
  • the imaging device 12 C may be, for example, a camera to capture an image to be displayed on the right side mirror monitor.
  • the imaging device 12 D is provided on the front surface of the mobile object 1 (the front end surface in the case where the mobile object 1 moves forward).
  • the imaging device 12 E is provided in the interior being inside the windshield of the mobile object 1 .
  • the imaging device 12 E may be provided, for example, in the vicinity of a rearview mirror in the interior, inside the windshield, on the dashboard, or the like.
  • each of the imaging device 12 D and the imaging device 12 E to capture images in front as viewed from the mobile object 1 may be a stereo camera including multiple cameras.
  • the mobile object 1 may include only one of the imaging device 12 D and the imaging device 12 E.
  • FIG. 2 is a diagram illustrating an example of a configuration of the mobile object 1 according to the embodiment.
  • the mobile object 1 includes an image processing device 10 , a control device 11 , an imaging device 12 , an ECU 13 , a wireless communication device 14 , a sensor 15 , a drive device 16 , a lamp device 17 , a navigation device 18 , and a display device 19 .
  • an internal network e.g., an in-vehicle network
  • an in-vehicle network such as a controller area network (CAN) and Ethernet (registered trademark).
  • CAN controller area network
  • Ethernet registered trademark
  • the image processing device 10 generates images whose brightness are corrected so as to reduce hunting, based on images (frames) captured at points in time by the imaging device 12 .
  • the image processing device 10 may record generated images in an external or internal recording device.
  • the control device 11 is a computer (information processing device) to control the respective components of the mobile object 1 . Based on images generated by the image processing device 10 , the control device 11 recognizes objects outside the mobile object 1 . Note that the objects may include, for example, another vehicle, a pedestrian, a bicycle, a white line, a side wall of a road, an obstacle, and the like.
  • the control device 11 tracks recognized objects.
  • the control device 11 controls the electronic control unit (ECU) 13 and the like of the mobile object 1 , based on the detected objects (the recognized objects and the tracking objects), to control the movement or the like of the mobile object 1 .
  • ECU electronice control unit
  • the control device 11 may control movement or the like of the mobile object 1 , to implement automatic driving at any level from level 0 where a driver (user, driver, passenger) operates a main control system (acceleration, steering, braking, etc.) to level 5 where unmanned operations are executed.
  • the ECU 13 is a device to control the respective devices of the mobile object 1 .
  • the ECU 13 may include multiple ECUs.
  • the wireless communication device 14 communicates with a device outside the mobile object 1 , such as the server 50 and a server on the Internet, by wireless communication through a mobile phone network or the like.
  • the sensors 15 may include a speed sensor to detect the speed of the mobile object 1 .
  • the speed sensor may be, for example, a sensor to measure the number of revolutions of a wheel axle.
  • the sensors 15 may include an acceleration sensor to detect an acceleration of the mobile object 1 .
  • the sensors 15 may include a yaw axis angular velocity sensor to detect the yaw axis angular velocity (yaw rate) of the mobile object 1 .

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)
US18/317,599 2020-11-18 2023-05-15 Image processing device, image processing method, program, and image processing system Active 2041-10-08 US12437378B2 (en)

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PCT/JP2020/042934 WO2022107235A1 (ja) 2020-11-18 2020-11-18 画像処理装置、画像処理方法、プログラム、及び画像処理システム

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JP7661977B2 (ja) * 2020-11-18 2025-04-15 株式会社ソシオネクスト 画像処理装置、画像処理方法、プログラム、及び画像処理システム

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